#ifndef COIN_SBDPROTATION_H#define COIN_SBDPROTATION_H/**************************************************************************\ * Copyright (c) Kongsberg Oil & Gas Technologies AS * All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions are * met: * * Redistributions of source code must retain the above copyright notice, * this list of conditions and the following disclaimer. * * Redistributions in binary form must reproduce the above copyright * notice, this list of conditions and the following disclaimer in the * documentation and/or other materials provided with the distribution. * * Neither the name of the copyright holder nor the names of its * contributors may be used to endorse or promote products derived from * this software without specific prior written permission. * * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT * HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY * THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.\**************************************************************************/#include <stdio.h>#include <Inventor/SbVec4d.h>classSbDPMatrix;classSbVec3d;classCOIN_DLL_APISbDPRotation{public:SbDPRotation(void);SbDPRotation(constSbVec3d&axis,constdoubleradians);SbDPRotation(constdoubleq[4]);SbDPRotation(constdoubleq0,constdoubleq1,constdoubleq2,constdoubleq3);SbDPRotation(constSbDPMatrix&m);SbDPRotation(constSbVec3d&rotateFrom,constSbVec3d&rotateTo);constdouble*getValue(void)const;voidgetValue(double&q0,double&q1,double&q2,double&q3)const;SbDPRotation&setValue(constdoubleq0,constdoubleq1,constdoubleq2,constdoubleq3);voidgetValue(SbVec3d&axis,double&radians)const;voidgetValue(SbDPMatrix&matrix)const;SbDPRotation&invert(void);SbDPRotationinverse(void)const;SbDPRotation&setValue(constdoubleq[4]);SbDPRotation&setValue(constSbDPMatrix&m);SbDPRotation&setValue(constSbVec3d&axis,constdoubleradians);SbDPRotation&setValue(constSbVec3d&rotateFrom,constSbVec3d&rotateTo);SbBoolequals(constSbDPRotation&r,doubletolerance)const;voidmultVec(constSbVec3d&src,SbVec3d&dst)const;voidscaleAngle(constdoublescaleFactor);staticSbDPRotationslerp(constSbDPRotation&rot0,constSbDPRotation&rot1,doublet);staticSbDPRotationidentity(void);voidprint(FILE*fp)const;SbDPRotation&operator*=(constSbDPRotation&q);SbDPRotation&operator*=(constdoubles);friendCOIN_DLL_APIintoperator==(constSbDPRotation&q1,constSbDPRotation&q2);friendCOIN_DLL_APIintoperator!=(constSbDPRotation&q1,constSbDPRotation&q2);friendCOIN_DLL_APISbDPRotationoperator*(constSbDPRotation&q1,constSbDPRotation&q2);private:SbVec4dquat;};typedefSbDPRotationSbRotationd;COIN_DLL_APIintoperator==(constSbDPRotation&q1,constSbDPRotation&q2);COIN_DLL_APIintoperator!=(constSbDPRotation&q1,constSbDPRotation&q2);COIN_DLL_APISbDPRotationoperator*(constSbDPRotation&q1,constSbDPRotation&q2);#endif // !COIN_SBDPROTATION_H